Reactive Planning for Legged Robots (Team Sweden)

Team Sweden is a Swedish national effort to produce a team of soccer playing physical robots to enter the RoboCup <http://www.robocup.org> international competition consisting of researchers and students from Örebro, Ronneby, Lund and Murcia (in Spain). Assert's TeamSwedendivision is main responsible for the module performing the strategic reasoning, called the Reactive Planner. We base our solution on a generalized potential field in which we make a look-ahead and probe (in its simplest configuration) the predicted position of the ball, while goals, players, etc. are being charged. The charges are based upon how good the position is for the ball (from our perspective). Additional potential fields handle other tasks, such as perceptual focus and supportive play.